CN109986343B - Mechanical arm for assembling motor hairpin type conducting bar - Google Patents
Mechanical arm for assembling motor hairpin type conducting bar Download PDFInfo
- Publication number
- CN109986343B CN109986343B CN201910236036.2A CN201910236036A CN109986343B CN 109986343 B CN109986343 B CN 109986343B CN 201910236036 A CN201910236036 A CN 201910236036A CN 109986343 B CN109986343 B CN 109986343B
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- air
- plate
- mounting plate
- cylinder
- air cylinder
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm for assembling a motor hairpin-type guide bar, which comprises a connecting part, wherein a left mounting plate and a right mounting plate are respectively arranged on two sides of the connecting part, the upper ends of the left mounting plate and the right mounting plate are respectively fixedly connected with the connecting part after being bent, the lower end of the left mounting plate is fixedly provided with a first air cylinder, a piston rod of the first air cylinder is fixedly connected with a first air claw, the lower end of the right mounting plate is fixedly provided with a second air cylinder and a third air cylinder, a piston rod of the second air cylinder is fixedly connected with a second air claw, a piston rod of the third air cylinder is fixedly connected with a push plate, the first air claw and the second air claw are horizontally arranged and are staggered relatively, and the push plate is positioned above the second air claw and faces the same as the second air claw. The mechanical arm for assembling the hairpin-shaped conducting bars of the motor can effectively complete the grabbing, transferring, inserting and rotating actions of the hairpin-shaped conducting bars, so that the hairpin-shaped conducting bars can be assembled rapidly and accurately, manpower and material resources are saved, and the production efficiency of the motor of the type is improved.
Description
Technical Field
The invention belongs to the technical field of motor production equipment, and particularly relates to a mechanical arm for assembling a motor hairpin-shaped conducting bar.
Background
The new energy automobile and the like improve the design method of the stator and the rotor of the motor used by the new energy automobile, gradually improve the torque, the power and the efficiency performance of the motor, and simultaneously reduce noise, for example, the winding mode of the stator is changed into a hairpin winding. Because no redundant space exists between coils of the hairpin winding, thicker hairpin conductors are sequentially inserted into a special winding die for winding in the winding process, and then the winding is inserted into a stator to complete the assembly of the stator. In order to insert the hairpin conductor into the winding die accurately and quickly, a special manipulator is designed to complete the action.
Disclosure of Invention
In order to solve the technical problems, the invention adopts the following technical scheme: the mechanical hand for assembling the motor hairpin type guide bar comprises a connecting part used for fixedly connecting a four-axis robot, wherein a left mounting plate and a right mounting plate which are vertically arranged are respectively arranged on two sides of the connecting part, the upper ends of the left mounting plate and the right mounting plate are respectively fixedly connected with the connecting part after being bent, the lower end of the left mounting plate is fixedly provided with a first cylinder which is horizontally arranged, a piston rod of the first cylinder is fixedly connected with a first air claw, the lower end of the right mounting plate is fixedly provided with a second cylinder and a third cylinder which are horizontally arranged, a piston rod of the second cylinder is fixedly connected with a second air claw, a push plate is fixedly connected with a piston rod of the third cylinder, the first air claw and the second air claw are horizontally arranged and are staggered relatively, and the push plate is positioned above the second air claw and faces the same with the second air claw.
The second gas claw is fixed on the L-shaped plate, and the L-shaped plate is including the diaphragm and the vertical riser of vertical setting that the level set up, and the second gas claw is fixed on the diaphragm, and the piston rod of the upper end fixed connection second cylinder of riser all is equipped with the guiding hole that supplies the push pedal to pass on riser and the right mounting panel, and second cylinder and third cylinder are fixed respectively in the both sides of right mounting panel.
Guide grooves are respectively formed in two sides of the second air cylinder, guide strips sliding in the corresponding guide grooves are respectively fixed on two sides of the upper end of the vertical plate, and the guide grooves and the piston rod of the second air cylinder are in the same direction.
The both sides of first cylinder are equipped with the second guide way respectively, and first air claw is fixed on the L template of second, and the L template of second is including the second diaphragm and the second riser of vertical setting that set up of level, and first air claw is fixed on the second diaphragm, and the piston rod of first cylinder of upper end fixed connection of second riser, the upper end both sides of second riser are fixed with the second gib that slides in corresponding second guide way respectively, and the second guide way is the same direction with the piston rod of first cylinder.
The bending parts of the left mounting plate and the right mounting plate are provided with reinforcing ribs.
The working principle of the invention is as follows: the four-axis robot controls the mechanical arm to move to the side of the hairpin-shaped conducting bar, the first air cylinder and the second air cylinder respectively control the first air claw and the second air claw to extend out, and two conducting bar legs of the hairpin-shaped conducting bar are respectively clamped from two sides of the hairpin-shaped conducting bar. The four-axis robot controls the manipulator to transfer to the upper part of the winding mould, the manipulator descends, the conducting bar leg grabbed by the first air jaw is inserted into a designated jack on the winding mould, the conducting bar leg grabbed by the second air jaw is inserted into a designated crescent jack, the conducting bar leg is respectively loosened by the first air jaw and the second air jaw, the conducting bar leg in the crescent jack is pushed by the third air cylinder driving push plate, the hairpin-shaped conducting bar rotates around the other conducting bar leg, and the conducting bar leg in the crescent jack moves to the designated position, so that the installation of the hairpin-shaped conducting bar of the motor is completed.
The beneficial effects of the invention are as follows: the mechanical arm for assembling the hairpin-shaped conducting bars of the motor can effectively complete the grabbing, transferring, inserting and rotating actions of the hairpin-shaped conducting bars, so that the hairpin-shaped conducting bars can be assembled rapidly and accurately, manpower and material resources are saved, and the production efficiency of the motor of the type is improved.
Drawings
FIG. 1 is a schematic view of a robot;
fig. 2 is a schematic view of a structure mechanically mounted on a four-axis robot.
Detailed Description
The invention will now be further described with reference to the accompanying drawings.
As shown in fig. 1-2, the mechanical arm for assembling the motor hairpin-shaped conducting bar comprises a connecting part 101 for fixedly connecting a four-axis robot 100, wherein a left mounting plate 102 and a right mounting plate 103 which are vertically arranged are respectively arranged on two sides of the connecting part 101, the upper ends of the left mounting plate 102 and the right mounting plate 103 are respectively fixedly connected with the connecting part 101 after being bent, a first air cylinder 104 which is horizontally arranged is fixedly connected with the lower end of the left mounting plate 102, a first air claw 105 is fixedly connected with a piston rod of the first air cylinder 104, a second air cylinder 106 and a third air cylinder 107 which are horizontally arranged are fixedly connected with the lower end of the right mounting plate 103, a second air claw 108 is fixedly connected with a piston rod of the second air cylinder 106, a push plate 109 is fixedly connected with a piston rod of the third air cylinder 107, the first air claw 105 and the second air claw 108 are horizontally arranged and relatively staggered, and the push plate 109 is positioned above the second air claw 108 and faces the same as the second air claw 108. The four-axis robot 100 controls the manipulator to move beside the hairpin conductor 120, the first air cylinder 104 and the second air cylinder 106 respectively control the first air claw 105 and the second air claw 108 to extend, and two conductor legs 121 of the hairpin conductor 120 are respectively clamped from two sides of the hairpin conductor 120. The four-axis robot 100 controls the manipulator to transfer to the upper part of the winding mould, the manipulator descends, the conducting bar legs 121 grabbed by the first air jaw 105 are inserted into designated jacks on the winding mould, the conducting bar legs 122 grabbed by the second air jaw 108 are inserted into designated crescent jacks, the conducting bar legs 121 and 122 are respectively loosened by the first air jaw 105 and the second air jaw 108, the conducting bar legs 122 in the crescent jacks are pushed by the pushing plate 109 driven by the third air cylinder 107, the hairpin conducting bar 120 rotates around the other conducting bar leg 121, the conducting bar legs 122 in the crescent jacks rotate to designated positions, and the installation of the motor hairpin conducting bar 120 is completed.
The second gas claw 108 is fixed on the L-shaped plate, the L-shaped plate comprises a horizontal plate 110 and a vertical plate 111 which are horizontally arranged, the second gas claw 108 is fixed on the horizontal plate 110, the upper end of the vertical plate 111 is fixedly connected with a piston rod of the second cylinder 106, guide holes 112 for the push plate 109 to pass through are formed in the vertical plate 111 and the right mounting plate 103, and the second cylinder 106 and the third cylinder 107 are respectively fixed on two sides of the right mounting plate 103. This arrangement allows for a more compact installation of the second cylinder 106, the third cylinder 107, the second air jaw 108 and the push plate 109.
Guide grooves 113 are respectively formed in two sides of the second air cylinder 106, guide strips 114 sliding in the corresponding guide grooves 113 are respectively fixed to two sides of the upper end of the vertical plate 111, and the guide grooves 113 and piston rods of the second air cylinder 106 are in the same direction. The cooperation of the guide groove 113 and the guide bar 114 allows the second air jaw 108 to operate more smoothly and accurately.
The both sides of first cylinder 104 are equipped with second guide way 115 respectively, and first air claw 105 is fixed on the L template of second, and the L template of second is including the second diaphragm 116 of level setting and the second riser 117 of vertical setting, and first air claw 105 is fixed on second diaphragm 116, and the piston rod of first cylinder 104 of upper end fixed connection of second riser 117, the upper end both sides of second riser 117 are fixed with the second guide strip 118 that slides in corresponding second guide way 115 respectively, and second guide way 115 is the same direction with the piston rod of first cylinder 104. The first air cylinder 104 and the first air claw 105 on the left mounting plate 102 have the same structure and mounting mode as the second air cylinder 106 and the second air claw 108 on the right mounting plate 103, and no additional design and processing connecting pieces are needed, so that the cost is saved.
The bending positions of the left mounting plate 102 and the right mounting plate 103 are respectively provided with a reinforcing rib 119. The purpose of the stiffener 119 is to increase the structural strength of the left mounting plate 102 and the right mounting plate 103.
While the preferred embodiments of the present invention have been described in detail, it should be appreciated that numerous modifications and variations may be made in accordance with the principles of the present invention by those skilled in the art without undue burden, and thus, all technical solutions which may be obtained by logic analysis, reasoning or limited experimentation based on the principles of the present invention as defined by the claims are within the scope of protection as defined by the present invention.
Claims (1)
1. The mechanical hand for assembling the motor hairpin-shaped guide bar is characterized by comprising a connecting part for fixedly connecting a four-axis robot, wherein a left mounting plate and a right mounting plate which are vertically arranged are respectively arranged on two sides of the connecting part, the upper ends of the left mounting plate and the right mounting plate are respectively fixedly connected with the connecting part after being bent, the lower end of the left mounting plate is fixedly provided with a first cylinder which is horizontally arranged, a piston rod of the first cylinder is fixedly connected with a first air claw, the lower end of the right mounting plate is fixedly provided with a second cylinder and a third cylinder which are horizontally arranged, the piston rod of the second cylinder is fixedly connected with a second air claw, the piston rod of the third cylinder is fixedly connected with a push plate, the first air claw and the second air claw are horizontally arranged and are staggered relatively, and the push plate is positioned above the second air claw and faces the same as the second air claw;
the second air claw is fixed on the L-shaped plate, the L-shaped plate comprises a horizontal plate and a vertical plate which are horizontally arranged, the second air claw is fixed on the horizontal plate, the upper end of the vertical plate is fixedly connected with a piston rod of a second air cylinder, guide holes for a push plate to pass through are formed in the vertical plate and the right mounting plate, and the second air cylinder and the third air cylinder are respectively fixed on two sides of the right mounting plate;
guide grooves are respectively formed in two sides of the second air cylinder, guide strips sliding in the corresponding guide grooves are respectively fixed on two sides of the upper end of the vertical plate, and the guide grooves and the piston rods of the second air cylinder are in the same direction;
the two sides of the first air cylinder are respectively provided with a second guide groove, the first air claw is fixed on a second L-shaped plate, the second L-shaped plate comprises a second horizontal plate and a second vertical plate which are horizontally arranged, the first air claw is fixed on the second horizontal plate, the upper end of the second vertical plate is fixedly connected with a piston rod of the first air cylinder, two sides of the upper end of the second vertical plate are respectively fixed with a second guide bar sliding in the corresponding second guide groove, and the second guide grooves and the piston rod of the first air cylinder are in the same direction;
the bending parts of the left mounting plate and the right mounting plate are respectively provided with a reinforcing rib.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910236036.2A CN109986343B (en) | 2019-03-27 | 2019-03-27 | Mechanical arm for assembling motor hairpin type conducting bar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910236036.2A CN109986343B (en) | 2019-03-27 | 2019-03-27 | Mechanical arm for assembling motor hairpin type conducting bar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109986343A CN109986343A (en) | 2019-07-09 |
| CN109986343B true CN109986343B (en) | 2023-10-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910236036.2A Active CN109986343B (en) | 2019-03-27 | 2019-03-27 | Mechanical arm for assembling motor hairpin type conducting bar |
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| Country | Link |
|---|---|
| CN (1) | CN109986343B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR920017776A (en) * | 1991-03-16 | 1992-10-21 | 박원희 | Gripper device for 2-way feed |
| CN104787577A (en) * | 2015-03-19 | 2015-07-22 | 杭州富生电器股份有限公司 | Motor stator trimming feeding device |
| CN204549430U (en) * | 2015-03-19 | 2015-08-12 | 杭州富生电器股份有限公司 | A kind of motor stator shaping pay-off |
| CN204823223U (en) * | 2015-03-19 | 2015-12-02 | 杭州富生电器有限公司 | Stator plastic machinery cell -phone constructs |
| CN107877535A (en) * | 2017-12-20 | 2018-04-06 | 无锡特恒科技有限公司 | A kind of jaw formula manipulator |
| CN108081294A (en) * | 2018-01-15 | 2018-05-29 | 珠海创思新能源科技有限公司 | A kind of reversible variable pitch mechanical hand |
| CN208196032U (en) * | 2018-04-27 | 2018-12-07 | 巨力自动化设备（浙江）有限公司 | The wire-clamping device of New energy automobile motor stator connecting line bonding machine |
| CN210147417U (en) * | 2019-03-27 | 2020-03-17 | 巨力自动化设备（浙江）有限公司 | Mechanical arm for assembling motor hair clip type conducting bar |
-
2019
- 2019-03-27 CN CN201910236036.2A patent/CN109986343B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR920017776A (en) * | 1991-03-16 | 1992-10-21 | 박원희 | Gripper device for 2-way feed |
| CN104787577A (en) * | 2015-03-19 | 2015-07-22 | 杭州富生电器股份有限公司 | Motor stator trimming feeding device |
| CN204549430U (en) * | 2015-03-19 | 2015-08-12 | 杭州富生电器股份有限公司 | A kind of motor stator shaping pay-off |
| CN204823223U (en) * | 2015-03-19 | 2015-12-02 | 杭州富生电器有限公司 | Stator plastic machinery cell -phone constructs |
| CN107877535A (en) * | 2017-12-20 | 2018-04-06 | 无锡特恒科技有限公司 | A kind of jaw formula manipulator |
| CN108081294A (en) * | 2018-01-15 | 2018-05-29 | 珠海创思新能源科技有限公司 | A kind of reversible variable pitch mechanical hand |
| CN208196032U (en) * | 2018-04-27 | 2018-12-07 | 巨力自动化设备（浙江）有限公司 | The wire-clamping device of New energy automobile motor stator connecting line bonding machine |
| CN210147417U (en) * | 2019-03-27 | 2020-03-17 | 巨力自动化设备（浙江）有限公司 | Mechanical arm for assembling motor hair clip type conducting bar |
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| Publication number | Publication date |
|---|---|
| CN109986343A (en) | 2019-07-09 |
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